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Merge pull request #4918 from thinkyhead/rc_abl_patchups

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Fix up ABL - Add PROBE_Y_FIRST option. Arduino 1.6.8 required.
This commit is contained in:
Scott Lahteine 2016-09-29 15:29:01 -05:00 committed by GitHub
commit 3bbdd48a4d
30 changed files with 266 additions and 94 deletions
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7
Marlin/Conditionals_post.h
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@ -648,8 +648,13 @@
#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
#define HAS_ABL (ABL_PLANAR || ABL_GRID)
#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#define PLANNER_LEVELING (HAS_ABL || ENABLED(MESH_BED_LEVELING))
#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#if HAS_PROBING_PROCEDURE
#define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))
#define PROBE_BED_HEIGHT abs(BACK_PROBE_BED_POSITION - (FRONT_PROBE_BED_POSITION))
#endif
/**
* Buzzer/Speaker

3
Marlin/Configuration.h
View File

@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

251
Marlin/Marlin_main.cpp
View File

@ -225,7 +225,7 @@
* M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
* M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
* M410 - Quickstop. Abort all planned moves.
* M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING)
* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING)
* M428 - Set the home_offset based on the current_position. Nearest edge applies.
* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
@ -2027,6 +2027,12 @@ static void clean_up_after_endstop_or_probe_move() {
// Do a first probe at the fast speed
do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
#if ENABLED(DEBUG_LEVELING_FEATURE)
float first_probe_z = current_position[Z_AXIS];
if (DEBUGGING(LEVELING))
SERIAL_ECHOPAIR("1st Probe Z:", first_probe_z);
#endif
// move up by the bump distance
do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
@ -2047,6 +2053,13 @@ static void clean_up_after_endstop_or_probe_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
#endif
// Debug: compare probe heights
#if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
}
#endif
return current_position[Z_AXIS];
}
@ -2119,30 +2132,69 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // HAS_BED_PROBE
#if HAS_ABL
#if PLANNER_LEVELING
/**
* Reset calibration results to zero.
* Turn bed leveling on or off, fixing the current
* position as-needed.
*
* TODO: Proper functions to disable / enable
* bed leveling via a flag, correcting the
* current position in each case.
* Disable: Current position = physical position
* Enable: Current position = "unleveled" physical position
*/
void reset_bed_level() {
planner.abl_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
bed_level_grid[x][y] = 1000.0;
void set_bed_leveling_enabled(bool enable=true) {
#if ENABLED(MESH_BED_LEVELING)
if (!enable && mbl.active())
current_position[Z_AXIS] +=
mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - (MESH_HOME_SEARCH_Z);
mbl.set_active(enable && mbl.has_mesh()); // was set_has_mesh(). Is this not correct?
#elif HAS_ABL
if (enable != planner.abl_enabled) {
planner.abl_enabled = !planner.abl_enabled;
if (!planner.abl_enabled)
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
else
planner.unapply_leveling(current_position);
}
#endif
}
#endif // HAS_ABL
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
set_bed_leveling_enabled(false);
mbl.reset();
mbl.set_has_mesh(false);
}
#else
planner.abl_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ABL_PLANAR
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
bed_level_grid[x][y] = 1000.0;
#endif
#endif
}
#endif // PLANNER_LEVELING
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -2160,7 +2212,7 @@ static void clean_up_after_endstop_or_probe_move() {
if (y < 10) SERIAL_CHAR(' ');
SERIAL_ECHO((int)y);
SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
SERIAL_CHAR(']');
SERIAL_ECHOLN(']');
}
#endif
if (bed_level_grid[x][y] < 999.0) {
@ -2247,7 +2299,7 @@ static void clean_up_after_endstop_or_probe_move() {
*/
static void print_bed_level() {
SERIAL_ECHOPGM("Bilinear Leveling Grid:\n ");
for (uint8_t x = 1; x < ABL_GRID_POINTS_X + 1; x++) {
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
SERIAL_PROTOCOLPGM(" ");
if (x < 10) SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL((int)x);
@ -2255,7 +2307,7 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_EOL;
for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
if (y < 9) SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOL(y + 1);
SERIAL_PROTOCOL(y);
for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
SERIAL_PROTOCOLCHAR(' ');
float offset = bed_level_grid[x][y];
@ -3583,24 +3635,31 @@ inline void gcode_G28() {
#if ABL_GRID
#if ABL_PLANAR
bool do_topography_map = verbose_level > 2 || code_seen('T');
#endif
if (verbose_level > 0) {
SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
}
int abl_grid_points_x = ABL_GRID_POINTS_X,
abl_grid_points_y = ABL_GRID_POINTS_Y;
#if ABL_PLANAR
bool do_topography_map = verbose_level > 2 || code_seen('T');
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
int abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_POINTS_X,
abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_POINTS_Y;
if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
if (abl_grid_points_x < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
return;
}
#else
const int abl_grid_points_x = ABL_GRID_POINTS_X, abl_grid_points_y = ABL_GRID_POINTS_Y;
#endif
xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
@ -3651,11 +3710,10 @@ inline void gcode_G28() {
if (!dryrun) {
// Re-orient the current position without leveling
// based on where the steppers are positioned.
get_cartesian_from_steppers();
memcpy(current_position, cartes, sizeof(cartes));
set_current_from_steppers_for_axis(ALL_AXES);
// Inform the planner about the new coordinates
SYNC_PLAN_POSITION_KINEMATIC();
// Sync the planner to where the steppers stopped
planner.sync_from_steppers();
}
setup_for_endstop_or_probe_move();
@ -3713,30 +3771,48 @@ inline void gcode_G28() {
#endif // AUTO_BED_LEVELING_LINEAR
bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR xCount
#define PR_OUTER_END abl_grid_points_x
#define PR_INNER_VAR yCount
#define PR_INNER_END abl_grid_points_y
#else
#define PR_OUTER_VAR yCount
#define PR_OUTER_END abl_grid_points_y
#define PR_INNER_VAR xCount
#define PR_INNER_END abl_grid_points_x
#endif
for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) {
float yBase = front_probe_bed_position + yGridSpacing * yCount;
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(MAKERARM_SCARA)
bool zig = true;
#else
bool zig = PR_OUTER_END & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
#endif
int8_t xStart, xStop, xInc;
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
if (zig) {
xStart = 0;
xStop = abl_grid_points_x;
xInc = 1;
inStart = 0;
inStop = PR_INNER_END;
inInc = 1;
}
else {
xStart = abl_grid_points_x - 1;
xStop = -1;
xInc = -1;
inStart = PR_INNER_END - 1;
inStop = -1;
inInc = -1;
}
zig = !zig;
for (int8_t xCount = xStart; xCount != xStop; xCount += xInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount;
for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount,
yBase = front_probe_bed_position + yGridSpacing * yCount;
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
indexIntoAB[xCount][yCount] = ++probePointCounter;
@ -3992,9 +4068,6 @@ inline void gcode_G28() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
#endif
SYNC_PLAN_POSITION_KINEMATIC();
abl_should_enable = true;
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@ -4004,14 +4077,13 @@ inline void gcode_G28() {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
#endif
// Unapply the offset because it is going to be immediately applied
// and cause compensation movement in Z
current_position[Z_AXIS] -= bilinear_z_offset(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
#endif
SYNC_PLAN_POSITION_KINEMATIC();
abl_should_enable = true;
}
#endif // ABL_PLANAR
@ -4034,6 +4106,9 @@ inline void gcode_G28() {
// Auto Bed Leveling is complete! Enable if possible.
planner.abl_enabled = dryrun ? abl_should_enable : true;
if (planner.abl_enabled)
SYNC_PLAN_POSITION_KINEMATIC();
}
#endif // HAS_ABL
@ -4045,13 +4120,13 @@ inline void gcode_G28() {
*/
inline void gcode_G30() {
#if HAS_ABL
reset_bed_level();
// Disable leveling so the planner won't mess with us
#if PLANNER_LEVELING
set_bed_leveling_enabled(false);
#endif
setup_for_endstop_or_probe_move();
// TODO: clear the leveling matrix or the planner will be set incorrectly
float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
true, 1);
@ -5380,8 +5455,8 @@ static void report_current_position() {
stepper.report_positions();
#if IS_SCARA
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_mm(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_mm(B_AXIS));
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
SERIAL_EOL;
#endif
}
@ -6260,12 +6335,14 @@ void quickstop_stepper() {
SYNC_PLAN_POSITION_KINEMATIC();
}
#if ENABLED(MESH_BED_LEVELING)
#if PLANNER_LEVELING
/**
* M420: Enable/Disable Mesh Bed Leveling
* M420: Enable/Disable Bed Leveling
*/
inline void gcode_M420() { if (code_seen('S')) mbl.set_has_mesh(code_value_bool()); }
inline void gcode_M420() { if (code_seen('S')) set_bed_leveling_enabled(code_value_bool()); }
#endif
#if ENABLED(MESH_BED_LEVELING)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
@ -7291,11 +7368,11 @@ void process_next_command() {
gcode_G28();
break;
#if HAS_ABL || ENABLED(MESH_BED_LEVELING)
#if PLANNER_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
gcode_G29();
break;
#endif // HAS_ABL
#endif // PLANNER_LEVELING
#if HAS_BED_PROBE
@ -7945,36 +8022,50 @@ void ok_to_send() {
ratio_y = y / bilinear_grid_spacing[Y_AXIS];
// Whole unit is the grid box index
int gridx = constrain(int(ratio_x), 0, ABL_GRID_POINTS_X - 2),
gridy = constrain(int(ratio_y), 0, ABL_GRID_POINTS_Y - 2);
const int gridx = constrain(floor(ratio_x), 0, ABL_GRID_POINTS_X - 2),
gridy = constrain(floor(ratio_y), 0, ABL_GRID_POINTS_Y - 2),
nextx = gridx + (x < PROBE_BED_WIDTH ? 1 : 0),
nexty = gridy + (y < PROBE_BED_HEIGHT ? 1 : 0);
// Subtract whole to get the ratio within the grid box
ratio_x -= gridx, ratio_y -= gridy;
ratio_x = constrain(ratio_x - gridx, 0.0, 1.0);
ratio_y = constrain(ratio_y - gridy, 0.0, 1.0);
// Z at the box corners
const float z1 = bed_level_grid[gridx][gridy], // left-front
z2 = bed_level_grid[gridx][gridy + 1], // left-back
z3 = bed_level_grid[gridx + 1][gridy], // right-front
z4 = bed_level_grid[gridx + 1][gridy + 1], // right-back
// Z at the box corners
const float z1 = bed_level_grid[gridx][gridy], // left-front
z2 = bed_level_grid[gridx][nexty], // left-back
z3 = bed_level_grid[nextx][gridy], // right-front
z4 = bed_level_grid[nextx][nexty], // right-back
// Bilinear interpolate
L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
R = z3 + (z4 - z3) * ratio_y; // Linear interp. RF -> RB
R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
offset = L + ratio_x * (R - L);
/*
SERIAL_ECHOPAIR("gridx=", gridx);
SERIAL_ECHOPAIR(" gridy=", gridy);
static float last_offset = 0;
if (fabs(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", x);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOPAIR(" z4=", z4);
SERIAL_ECHOLNPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" R=", R);
SERIAL_ECHOPAIR(" offset=", L + ratio_x * (R - L));
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
return L + ratio_x * (R - L);
return offset;
}
#endif // AUTO_BED_LEVELING_BILINEAR

4
Marlin/SanityCheck.h
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@ -30,8 +30,8 @@
* Due to the high number of issues related with old versions of Arduino IDE
* we now prevent Marlin from compiling with older toolkits.
*/
#if !defined(ARDUINO) || ARDUINO < 10600
#error "Versions of Arduino IDE prior to 1.6.0 are no longer supported, please update your toolkit."
#if !defined(ARDUINO) || ARDUINO < 10608
#error "Versions of Arduino IDE prior to 1.6.8 are no longer supported, please update your toolkit."
#endif
/**

2
Marlin/enum.h
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@ -23,6 +23,8 @@
#ifndef __ENUM_H__
#define __ENUM_H__
#include "MarlinConfig.h"
/**
* Axis indices as enumerated constants
*

3
Marlin/example_configurations/Cartesio/Configuration.h
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@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/Felix/Configuration.h
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@ -772,6 +772,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/Felix/DUAL/Configuration.h
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@ -770,6 +770,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/Hephestos/Configuration.h
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@ -781,6 +781,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/Hephestos_2/Configuration.h
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@ -783,6 +783,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/K8200/Configuration.h
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@ -806,6 +806,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/K8400/Configuration.h
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@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/K8400/Dual-head/Configuration.h
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@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/RigidBot/Configuration.h
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@ -787,6 +787,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/SCARA/Configuration.h
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@ -804,6 +804,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/TAZ4/Configuration.h
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@ -810,6 +810,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/WITBOX/Configuration.h
View File

@ -781,6 +781,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View File

@ -789,6 +789,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/delta/biv2.5/Configuration.h
View File

@ -881,6 +881,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/delta/generic/Configuration.h
View File

@ -875,6 +875,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View File

@ -878,6 +878,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View File

@ -879,6 +879,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View File

@ -881,6 +881,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/makibox/Configuration.h
View File

@ -792,6 +792,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

3
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View File

@ -785,6 +785,9 @@
// The Z probe minimum outer margin (to validate G29 parameters).
#define MIN_PROBE_EDGE 10
// Probe along the Y axis, advancing X after each column
//#define PROBE_Y_FIRST
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// 3 arbitrary points to probe.

13
Marlin/planner.cpp
View File

@ -1201,7 +1201,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
} // buffer_line()
/**
* Directly set the planner XYZ position (hence the stepper positions).
* Directly set the planner XYZ position (and stepper positions)
* converting mm (or angles for SCARA) into steps.
*
* On CORE machines stepper ABC will be translated from the given XYZ.
*/
@ -1229,12 +1230,12 @@ void Planner::sync_from_steppers() {
}
/**
* Directly set the planner E position (hence the stepper E position).
* Setters for planner position (also setting stepper position).
*/
void Planner::set_e_position_mm(const float& e) {
position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
stepper.set_e_position(position[E_AXIS]);
previous_speed[E_AXIS] = 0.0;
void Planner::set_position_mm(const AxisEnum axis, const float& v) {
position[axis] = lround(v * axis_steps_per_mm[axis]);
stepper.set_position(axis, v);
previous_speed[axis] = 0.0;
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2

10
Marlin/planner.h
View File

@ -33,6 +33,7 @@
#define PLANNER_H
#include "types.h"
#include "enum.h"
#include "MarlinConfig.h"
#if HAS_ABL
@ -242,17 +243,16 @@ class Planner {
* Clears previous speed values.
*/
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
static void set_position_mm(const AxisEnum axis, const float& v);
static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); }
static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
static void sync_from_steppers();
/**
* Set the E position (mm) of the planner (and the E stepper)
*/
static void set_e_position_mm(const float& e);
/**
* Does the buffer have any blocks queued?
*/

6
Marlin/stepper.cpp
View File

@ -970,6 +970,12 @@ void Stepper::set_position(const long& x, const long& y, const long& z, const lo
CRITICAL_SECTION_END;
}
void Stepper::set_position(const AxisEnum &axis, const long& v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
void Stepper::set_e_position(const long& e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;

1
Marlin/stepper.h
View File

@ -189,6 +189,7 @@ class Stepper {
// Set the current position in steps
//
static void set_position(const long& x, const long& y, const long& z, const long& e);
static void set_position(const AxisEnum& a, const long& v);
static void set_e_position(const long& e);
//